CN109332840A - A kind of Intelligent welding system and method - Google Patents
A kind of Intelligent welding system and method Download PDFInfo
- Publication number
- CN109332840A CN109332840A CN201811386961.5A CN201811386961A CN109332840A CN 109332840 A CN109332840 A CN 109332840A CN 201811386961 A CN201811386961 A CN 201811386961A CN 109332840 A CN109332840 A CN 109332840A
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- Prior art keywords
- assembly
- circuit board
- weld
- mould group
- clamping
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- 238000003466 welding Methods 0.000 title claims abstract description 78
- 238000000034 method Methods 0.000 title claims abstract description 12
- 230000033001 locomotion Effects 0.000 claims abstract description 41
- ATJFFYVFTNAWJD-UHFFFAOYSA-N Tin Chemical compound [Sn] ATJFFYVFTNAWJD-UHFFFAOYSA-N 0.000 claims description 13
- 230000003028 elevating effect Effects 0.000 claims description 12
- 238000005476 soldering Methods 0.000 claims description 10
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
- 230000009286 beneficial effect Effects 0.000 description 9
- 230000005611 electricity Effects 0.000 description 3
- 229910000679 solder Inorganic materials 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 230000003750 conditioning effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K3/00—Tools, devices, or special appurtenances for soldering, e.g. brazing, or unsoldering, not specially adapted for particular methods
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K1/00—Soldering, e.g. brazing, or unsoldering
- B23K1/0008—Soldering, e.g. brazing, or unsoldering specially adapted for particular articles or work
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K3/00—Tools, devices, or special appurtenances for soldering, e.g. brazing, or unsoldering, not specially adapted for particular methods
- B23K3/08—Auxiliary devices therefor
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Electric Connection Of Electric Components To Printed Circuits (AREA)
Abstract
The present invention relates to a kind of Intelligent welding system and methods, its system includes assembly line, industrial personal computer, motion platform, gripper assembly, vision system and weld assembly, vision system, gripper assembly and weld assembly are respectively arranged on motion platform, assembly line, motion platform, gripper assembly, weld assembly and vision system respectively with industry control mechatronics, and gripper assembly can clamp the circuit board that setting position is moved on assembly line, the circuit board that weld assembly can clamp gripper assembly welds.The present invention obtains the image information for being moved to the circuit board of setting position by vision system, and by the pad information in industrial personal computer identification circuit board, weld pulse information is generated in conjunction with pre-stored printed information and automatic welding is carried out to the circuit board that gripper assembly clamps, greatly reduce the manual debugging workload of early period, it improves work efficiency and product quality, and welding parameter need not be adjusted for the circuit board of different circuit structures, intelligence degree is higher.
Description
Technical field
The present invention relates to welding automatization technology field more particularly to a kind of Intelligent welding system and methods.
Background technique
For one after wave-soldering, Reflow Soldering, chip mounter in the welding of electronics industry, especially electronic product
Divide solder joint that electric iron is needed to weld, start automatic welding device occurred on the market in the case where cost of labor constantly rises,
Current automatic welding device is mainly multidimensional platform automatic tin welding machine.The advantage of multidimensional platform tin soldering machine is can to largely reduce
Manually, welding quality also hands over human weld more reliable and more stable, is suitble to large batch of production, and cost is also cheaper, but
It is that existing automatic tin welding machine intelligence degree is not high, structure is complicated, and at high price.
Summary of the invention
The technical problem to be solved by the present invention is to solve the above shortcomings of the prior art and to provide a kind of Intelligent welding systems
And method.
The technical scheme to solve the above technical problems is that a kind of Intelligent welding system, including in cuboid
Cabinet, assembly line and industrial personal computer for transmitting circuit board to be welded, the assembly line along the cabinet width direction
Through the cabinet, it is equipped with motion platform, gripper assembly, vision system and weld assembly in the cabinet, the vision system,
Gripper assembly and weld assembly are respectively arranged on the motion platform, the assembly line, motion platform, gripper assembly, welding
Component and vision system respectively with the industry control mechatronics；
The vision system for obtaining the location information of circuit board to be welded on the assembly line, and obtains movement
To the image information of the circuit board of setting position；
The gripper assembly, for will move to the circuit board to be welded of the target position according to the clamping signal
Pick up fixation；It is also used to that the soldered circuit board of clamping is placed on the assembly line according to the placement signal；
The industrial personal computer is used for according to pad locations in described image information identification circuit board, and is combined pre-stored
The printed information of the circuit board generates weld pulse information；It is also used to generate clamping pulse signal according to described image information；
It is also used to generate after the completion of welding and places pulse signal；
The weld assembly, the circuit board for being clamped according to the weld pulse information to the gripper assembly weld
It connects, until welding is completed.
The beneficial effects of the present invention are: Intelligent welding system of the invention, is moved to setting position by vision system acquisition
The image information for the circuit board set, and by the pad information in industrial personal computer identification circuit board, in conjunction with pre-stored printed information
It generates weld pulse information and automatic welding is carried out to the circuit board of gripper assembly clamping, can be applied according to different pads
The different soldering tin amount of row, greatly reduces the manual debugging workload of early period, improves work efficiency and product quality, and can
It is welded with the circuit board for different circuit structures with batch, without adjustment welding parameter, intelligence degree is higher.
Based on the above technical solution, the present invention can also be improved as follows:
Further, the motion platform includes the first mould group, the second mould group and third mould group；The first mould group is along institute
The width direction for stating assembly line is arranged on the opposite sides inner wall of the cabinet, and the second mould group is along the assembly line
Length direction is arranged in the first mould group, and the first mould group can drive the first mould group along the assembly line
Width direction movement, the second mould group be equipped with third mould group, and the second mould group can drive the third mould group along
The width direction of the assembly line moves, and the weld assembly is arranged in the third mould group, and the third mould group can drive
It moves the weld assembly elevating movement and horizontally rotates, welded with the circuit board clamped to the gripper assembly.
The beneficial effect of above-mentioned further scheme is: being assembled by the way that the first mould group, the second mould group and third mould is arranged
It closes and uses, the weld assembly can be driven to move to any position in three-dimensional space, and can rotate in the horizontal plane, realize
Automatic welding is carried out to the circuit board of gripper assembly clamping, it is very convenient.
Further, the first mould group includes two the first sliding rails and the first driving assembly, the second mould group includes the
Two support rods and the second driving assembly, the third mould group include slide block assembly and third driving assembly；Two described first slide
Rail is contour to be set to the cabinet along on the inner wall of width direction two sides, the both ends of the second support bar respectively with corresponding institute
It states the first sliding rail to be slidably connected, one end of first sliding rail, and first driving group is arranged in first driving assembly
Part and the second support bar are sequentially connected, and the second support bar can be driven sliding along the width direction of the assembly line
It is dynamic, it is equipped with the second sliding rail along the length direction of the assembly line in the second support bar, the slide block assembly is arranged in institute
It states on the second sliding rail, one end of the second support bar, second driving assembly and institute is arranged in second driving assembly
Slide block assembly transmission connection is stated, and the slide block assembly can be driven to slide along the length direction of the assembly line, the welding
Component is arranged on the slide block assembly, and the upper end of the slide block assembly, and the third is arranged in the third driving assembly
Driving assembly and the weld assembly are sequentially connected, and can drive the weld assembly elevating movement and horizontally rotate.
The beneficial effect of above-mentioned further scheme is: the third driving assembly can be driven to drive by the third mould group
It moves the slide block assembly to drive the weld assembly elevating movement and horizontally rotate, by described in second driving assembly driving
Second support bar drives the third mould group to move together with the weld assembly along the length direction of the assembly line, passes through institute
Stating the first driving assembly can drive the second mould group to drive third mould group sliding along described first together with the weld assembly
Rail movement, realizes any adjustment to weld assembly in spatial position and orientation, meets welding demand.
Further, the weld assembly includes backboard, for tinware and weldering pen, the backboard and the third driving assembly
Output end connection, described to be arranged on the backboard for tinware, the weldering pen is arranged on the backboard, and is located at described for tin
The lower section of device, the tin silk on tinware extend at the soldering tip of the weldering pen, and the third driving assembly can drive the back
Strip is moved the weldering elevating movement and is horizontally rotated, and the weldering pen is electrically connected with temperature controller, the temperature controller with
The industry control mechatronics.
The beneficial effect of above-mentioned further scheme is: driving the backboard to drive by the third mould group described for tinware
It is moved at pad together with weldering pen, and automatic welding is carried out to the pad by the solder stick on tinware, significantly
Welding efficiency is improved, it is very convenient.
Further, the gripper assembly include along the assembly line width direction across be arranged above the assembly line
Support frame and the clamping driving mechanism that is arranged on support frame as described above and clamping part, support frame as described above be located at the cabinet along
Between the opposite sides inner wall of width direction, the clamping driving mechanism can drive the clamping part to move and clamp the flowing water
The circuit board of setting position is moved on line, and is moved to the lower section of the weld assembly.
The beneficial effect of above-mentioned further scheme is: the support clamping driving machine that can be stable by support frame as described above
Structure can clamping part, and pressed from both sides automatically by the clamping driving mechanism circuit board that drives the clamping part to move to setting position
It takes, high reliablity substantially increases operating efficiency.
Further, slided up and down along the length direction of the assembly line equipped with support beam on support frame as described above, it is described
Clamping part includes two clamping hands, and the clamping driving mechanism includes flexible driving assembly, picks and places driving assembly and lifting driving
Component, the lifting driving assembly and the support beam are sequentially connected, and the support beam can be driven to move up and down, described
Flexible driving assembly is arranged in the support beam, and the flexible driving assembly and the pick-and-place driving assembly are sequentially connected,
And the pick-and-place driving assembly can be driven along the assembly line width direction stretching motion, the pick-and-place driving assembly respectively with
Two clamping hands connections, and two clamping hands movements and close to each other or separate can be driven.
The beneficial effect of above-mentioned further scheme is: by the flexible driving assembly, picking and placing driving assembly and lifting drive
Dynamic component can respectively drive the clamping hand along two the assembly line width direction stretching motion, driving clamping hands
The close to each other or separate and driving clamping hand elevating movement, to successfully realize to the circuit for moving to setting position
Plate is clamped, and then guarantees that the welding of subsequent conditioning circuit plate smoothly completes.
Further, the vision system includes being arranged on the slide block assembly and can moving together with the slide block assembly
Close to the scanner of circuit board supplied materials side, the video camera and scanner point on dynamic video camera and the setting cabinet
Not with the industry control mechatronics.
The beneficial effect of above-mentioned further scheme is: can be to the circuit board on the assembly line by the scanner
Position is scanned, can be with by the video camera convenient for the circuit board of the accurate squeeze motion of gripper assembly to setting position
The circuit board for moving to setting position is shot, and the pad information on the circuit board is identified by industrial personal computer.
Further, the vision system further includes the light being arranged in the cabinet along the width direction of the assembly line
Electric transducer, the photoelectric sensor and the industry control mechatronics, and detect the circuit board of the gripper assembly clamping
Whether the target position is moved to.
The beneficial effect of above-mentioned further scheme is: can detecte the gripper assembly by the photoelectric sensor and clamps
The circuit board whether move to the target position, be accurately performed welding convenient for the weld assembly.
Further, the Intelligent welding system further includes the positioning fixture to match with the circuit board, the circuit
Plate is fixed on correspondingly on the positioning fixture, and the gripper assembly clamps the positioning fixture and by the circuit board
The target position is moved to be welded.
The beneficial effect of above-mentioned further scheme is: can effectively be protected to the circuit board by the positioning fixture
Shield avoids stress that circuit is caused to damage or cause poor contact, guarantees the quality of circuit board.
The present invention also provides a kind of welding methods of Intelligent welding system, include the following steps:
Step 1: obtaining the location information of circuit board to be welded on the assembly line, and in circuit board motion to setting position
Its image information is obtained when setting；
Step 2: being identified according to described image information and generate clamping pulse signal, and electricity is identified according to described image information
Pad information on the plate of road, and weld pulse information is generated in conjunction with the printed information of the pre-stored circuit board；
Step 3: fixation is picked up according to the circuit board to be welded that the clamping signal will move to the target position, and
It is welded according to the circuit board that the weld pulse information clamps the gripper assembly；
Step 4: generating after the completion of the welding circuit board and place pulse signal, according to the placement signal by the weldering of clamping
The circuit board for connecing completion is placed on the assembly line, and return step 1, is so recycled, until completing all circuit boards
Welding.
Intelligent welding method of the invention, the image information of the circuit board of setting position is moved to by obtaining, and is identified
Pad information on circuit board generates weld pulse information in conjunction with pre-stored printed information and clamps to the gripper assembly
Circuit board carry out automatic welding, different soldering tin amounts can be implemented according to different pads, greatly reduces the artificial of early period
Debugging work load, improves work efficiency and product quality, and can weld for the circuit board of different circuit structures with batch
It connects, without adjustment welding parameter, intelligence degree is higher.
Detailed description of the invention
Fig. 1 is Intelligent welding system main view of the invention；
Fig. 2 is Intelligent welding system top view of the invention；
Fig. 3 is weld assembly main view of the invention；
Fig. 4 is Intelligent welding method flow schematic diagram of the invention.
In attached drawing, parts list represented by the reference numerals are as follows:
1, cabinet, 2, circuit board, 3, assembly line, 4, industrial personal computer, the 5, first mould group, the 6, second mould group, 7, third mould group, 8,
Weld assembly, 9, gripper assembly, 10, vision system, 11, temperature controller；
51, the first sliding rail, the 52, first driving assembly, 61, second support bar, the 62, second driving assembly, 71, sliding block group
Part, 72, third driving assembly, 81, backboard, 82, for tinware, 83, weldering pen, 91, support frame, 92, clamping driving mechanism, 93, folder
Hold portion, 94, support beam；
921, stretch driving assembly, and 922, pick and place driving assembly, 923, lifting driving assembly, 101, video camera, 102, sweep
Retouch device, 103, photoelectric sensor.
Specific embodiment
The principle and features of the present invention will be described below with reference to the accompanying drawings, and the given examples are served only to explain the present invention, and
It is non-to be used to limit the scope of the invention.
As depicted in figs. 1 and 2, a kind of Intelligent welding system, including the cabinet 1, to be welded for transmitting in cuboid
The assembly line 3 and industrial personal computer 4 of circuit board 2, the assembly line 3 run through the cabinet 1, institute along the width direction of the cabinet 1
It states and is equipped with motion platform, gripper assembly 9, vision system 10 and weld assembly 8, the vision system 10, gripper assembly in cabinet 1
9 and weld assembly 8 be respectively arranged on the motion platform, the assembly line 3, motion platform, gripper assembly 9, weld assembly 8
It is electrically connected respectively with the industrial personal computer 4 with vision system 10；
The vision system 10 for obtaining the location information of circuit board 2 to be welded on the assembly line 3, and obtains
Move to the image information of the circuit board 2 of setting position；
The gripper assembly 9, for will move to the circuit to be welded of the target position according to the clamping signal
Plate 2 picks up fixation；It is also used to that the soldered circuit board 2 of clamping is placed in the assembly line 3 according to the placement signal
On；
The industrial personal computer is used for according to pad locations in described image information identification circuit board 2, and is combined pre-stored
The printed information of the circuit board 2 generates weld pulse information；It is also used to generate clamping pulse signal according to described image information；
It is also used to generate after the completion of welding and places pulse signal；
The weld assembly 8, circuit board 2 for being clamped according to the weld pulse information to the gripper assembly 9 into
Row welding, until welding is completed.
Intelligent welding system of the invention obtains the image letter for being moved to the circuit board of setting position by vision system
Breath, and by the pad information in industrial personal computer identification circuit board, weld pulse information is generated simultaneously in conjunction with pre-stored printed information
Automatic welding is carried out to the circuit board of gripper assembly clamping, different soldering tin amounts can be implemented according to different pads, greatly
The manual debugging workload of early period is reduced greatly, is improved work efficiency and product quality, and can be directed to different circuit knots
The circuit board of structure is welded with batch, and without adjustment welding parameter, intelligence degree is higher.
In embodiment provided by the invention, the motion platform includes the first mould group 5, the second mould group 6 and third mould group 7；
The first mould group 5 is arranged on the opposite sides inner wall of the cabinet 1 along the width direction of the assembly line 3, and described
Two mould groups 6 are arranged in the first mould group 5 along the length direction of the assembly line 3, and the first mould group 5 can drive institute
It states the first mould group 5 to move along the width direction of the assembly line 3, the second mould group 6 is equipped with third mould group 7, and described
Second mould group 6 can drive the third mould group 7 to move along the width direction of the assembly line 3, and the setting of weld assembly 8 exists
In the third mould group 7, and the third mould group 7 can drive 8 elevating movement of weld assembly and horizontally rotate, to described
The circuit board 2 that gripper assembly 9 clamps is welded.By the way that the first mould group 5, the second mould group 6 and third mould group 7 is arranged
It is used cooperatively, the weld assembly can be driven to move to any position in three-dimensional space, and can rotate in the horizontal plane, it is real
Automatic welding now is carried out to the circuit board of the gripper assembly 9 clamping, it is very convenient.
In embodiment provided by the invention, the first mould group 5 includes two the first sliding rails 51 and the first driving assembly 52,
The second mould group 6 includes second support bar 61 and the second driving assembly 62, and the third mould group 7 includes slide block assembly 71 and the
Three driving assemblies 72；Two first sliding rails 51 are contour to be set to the cabinet 1 along on the inner wall of width direction two sides, described
The both ends of second support bar 61 are slidably connected with corresponding first sliding rail 51 respectively, and the setting of the first driving assembly 52 exists
One end of first sliding rail 51, and first driving assembly 52 and the second support bar 61 are sequentially connected, and can drive
The second support bar 61 is slided along the width direction of the assembly line 3, along the flowing water in the second support bar 61
The length direction of line 3 is equipped with the second sliding rail, and the slide block assembly 71 is arranged on second sliding rail, second driving assembly
62 are arranged in one end of the second support bar 61, and second driving assembly 62 is sequentially connected with the slide block assembly 71, and
The slide block assembly 71 can be driven to slide along the length direction of the assembly line 3, the weld assembly 8 is arranged in the sliding block
On component 71, the third driving assembly 72 is arranged in the upper end of the slide block assembly 71, and the third driving assembly 72 with
The weld assembly 8 is sequentially connected, and can drive 8 elevating movement of weld assembly and horizontally rotate.Pass through the third mould
Group 7 can drive the third driving assembly 72 that the slide block assembly 71 is driven to drive 8 elevating movement of weld assembly and water
Flat turn is dynamic, drives the second support bar 61 to drive the third mould group 7 together with the weldering by second driving assembly 62
Connected components 8 are moved along the length direction of the assembly line 3, can drive second mould by first driving assembly 52
6 drive third mould group 7 of group is moved together with the weld assembly 8 along first sliding rail 51, is realized to weld assembly in space
Any adjustment of position and orientation, meets welding demand.
As shown in figure 3, the weld assembly 8 includes backboard 81, for tinware 82 and weldering pen in embodiment provided by the invention
83, the backboard 81 is connect with the output end of the third driving assembly 72, described to be arranged by fixed column in institute for tinware 82
It states on backboard 81, the weldering pen 83 is arranged on the backboard 81, and is located at the lower section for tinware 82, described for tinware 82
On tin silk extend to it is described weldering pen 83 soldering tip at, the third driving assembly 72 can drive the backboard 81 to drive the weldering pen
83 elevating movements and horizontally rotate, the weldering pen 83 is electrically connected with temperature controller 11, the temperature controller and the industry control
Machine 4 is electrically connected.By the third mould group 7 drive the backboard 81 drive it is described for tinware 82 and weldering pen 83 move to weldering together
Pan Chu, and automatic welding is carried out to the pad by the solder stick on tinware 82, welding efficiency is substantially increased, it is non-
It is often convenient.
Here, can be to weld the temperature of pen 83 described in real-time detection by the temperature controller 11, and control the weldering pen
83 temperature improves welding efficiency within the scope of required temperature, guarantees welding quality.
In embodiment provided by the invention, the gripper assembly 9 includes along 3 width direction of assembly line across setting
Support frame 91 above the assembly line 3 and the clamping driving mechanism 92 being arranged on support frame as described above 91 and clamping part 93,
Support frame as described above 91 is located at the cabinet 1 along between the opposite sides inner wall of width direction, and the clamping driving mechanism 92 can
It drives the clamping part 93 to move and clamps the circuit board 2 for moving to setting position on the assembly line 4, and be moved to the weldering
The lower section of connected components 8.By support frame as described above 91 can be stable the support clamping driving mechanism 92 can clamping part 93, and by
The circuit board 2 that the clamping driving mechanism 92 drives the clamping part 3 to move to setting position carries out automatic clamping, reliability
Height substantially increases operating efficiency.
Preferably, logical along the length direction of the assembly line 3 on support frame as described above 91 in embodiment provided by the invention
It crosses slide bar to slide up and down equipped with support beam 94, the clamping part 93 includes two clamping hands, and the clamping driving mechanism 92 is wrapped
Include flexible driving assembly 921, pick and place driving assembly 922 and lifting driving assembly 923, the lifting driving assembly 923 with it is described
Support beam 94 is sequentially connected, and the support beam 94 can be driven to move up and down along the slide bar, the flexible driving group
Part 921 is arranged in the support beam 94, and the flexible driving assembly 921 is sequentially connected with the pick-and-place driving assembly 922,
And the pick-and-place driving assembly 922 can be driven along the assembly line width direction stretching motion, the pick-and-place driving assembly 922
It is connect respectively with two clamping hands, and two clamping hands movements and close to each other or separate can be driven.By described
Flexible driving assembly 921, pick-and-place driving assembly 922 and lifting driving assembly 923 can respectively drive the clamping hand along institute
State two assembly line width direction stretching motion, driving clamping palmistrys mutually close to or far from and drive the clamping hand liter
Drop movement, clamps the circuit board 2 for moving to setting position to successfully realize, and then guarantees subsequent conditioning circuit plate 2
Welding smoothly completes.
In embodiment provided by the invention, the vision system 10 includes being arranged on the slide block assembly 71 and can be with
The video camera 101 and sweeping close to the 2 supplied materials side of circuit board on the cabinet 1 is set that the slide block assembly 71 moves together
Device 102 is retouched, the video camera 101 and scanner 102 are electrically connected with the industrial personal computer 4 respectively.It can be with by the scanner 102
The position of circuit board 2 on the assembly line 3 is scanned, convenient for the accurate squeeze motion of gripper assembly to setting position
Circuit board 2 can shoot the circuit board 2 for moving to setting position by the video camera 101, and be known by industrial personal computer 4
Pad information on the not described circuit board 2.
In embodiment provided by the invention, the vision system 10 further includes setting along the width direction of the assembly line 3
The photoelectric sensor 103 in the cabinet 1 is set, the photoelectric sensor 103 is electrically connected with the industrial personal computer 4, and detects institute
Whether the circuit board 2 for stating the clamping of gripper assembly 9 moves to the target position.It can be with by the photoelectric sensor 103
Detect whether the circuit board 2 that the gripper assembly 9 clamps moves to the target position, convenient for 8 essence of weld assembly
It really completes to weld.
Preferably, in embodiment provided by the invention, the Intelligent welding system further includes and 2 phase of circuit board
The positioning fixture matched, the circuit board 2 are fixed on correspondingly on the positioning fixture, and the gripper assembly 9 clamps institute
It states positioning fixture and the circuit board 2 is moved to the target position and weld.It can be to institute by the positioning fixture
It states circuit board 2 and carries out effective protection, avoid stress that circuit is caused to damage or cause poor contact, guarantee the quality of circuit board 2.
It should be pointed out that all driving assemblies can use existing motor or hydraulic cylinder, this hair in the present invention
Detailed repeat no longer is carried out in bright.
In practice, the printed information of the circuit board 2 is imported into industrial personal computer 4 first, industrial personal computer is believed according to the printing
Breath identifies that (central point O, pad including marking in advance on circuit board are sat relative to the position of central point for pad information to be welded
Mark, pad size, default scolding tin length and weldering pen residence time etc.), then start assembly line 3, obtains institute by 102 scanners
The location information of circuit board 2 to be welded on assembly line 3 is stated, and passes through video camera 101 when circuit board 2 moves to setting position
It obtains its image information and is sent to industrial personal computer 4；Industrial personal computer 4 generates clamping pulse signal, Yi Jigen according to described image information
According to the pad information in described image information identification circuit board 2, and it is raw in conjunction with the printed information of the pre-stored circuit board 2
At weld pulse information；When circuit board 2 moves to setting position, the control of industrial personal computer 4 clamping hand will according to the clamping signal
The circuit board 2 to be welded for moving to the target position picks up fixation, welds pen 83 according to the weld pulse information to described
The circuit board 2 that gripper assembly 9 clamps is welded, and is generated after the completion of the circuit board 2 welding and is placed pulse signal, the work
The soldered circuit board 2 of clamping is placed on the assembly line 3 by the control clamping hand of control machine 4 according to the placement signal,
So circulation, until completing the welding of all circuit boards 2.
As shown in figure 4, including the following steps: the present invention also provides a kind of welding method of Intelligent welding system
Step 1: obtaining the location information of circuit board 2 to be welded on the assembly line 3, and move to and set in circuit board 2
Positioning obtains its image information when setting；
Step 2: being identified according to described image information and generate clamping pulse signal, and electricity is identified according to described image information
Pad information on road plate 2, and weld pulse information is generated in conjunction with the printed information of the pre-stored circuit board 2；
Step 3: fixation is picked up according to the circuit board 2 to be welded that the clamping signal will move to the target position,
And it is welded according to the circuit board 2 that the weld pulse information clamps the gripper assembly 9；
Step 4: being generated after the completion of the circuit board 2 welding and place pulse signal, according to the placement signal by clamping
Soldered circuit board 2 is placed on the assembly line 3, and return step 1, is so recycled, until completing all electricity
The welding of road plate 2.
Intelligent welding method of the invention, the image information of the circuit board of setting position is moved to by obtaining, and is identified
Pad information on circuit board generates weld pulse information in conjunction with pre-stored printed information and clamps to the gripper assembly
Circuit board carry out automatic welding, different soldering tin amounts can be implemented according to different pads, greatly reduces the artificial of early period
Debugging work load, improves work efficiency and product quality, and can weld for the circuit board of different circuit structures with batch
It connects, without adjustment welding parameter, intelligence degree is higher.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of Intelligent welding system, it is characterised in that: including being in the cabinet (1) of cuboid, for transmitting circuit to be welded
The assembly line (3) and industrial personal computer (4) of plate (2), the assembly line (3) run through the machine along the width direction of the cabinet (1)
Cabinet (1), the cabinet (1) is interior to be equipped with motion platform, gripper assembly (9), vision system (10) and weld assembly (8), the view
Feel system (10), gripper assembly (9) and weld assembly (8) are respectively arranged on the motion platform, the assembly line (3), fortune
Moving platform, gripper assembly (9), weld assembly (8) and vision system (10) are electrically connected with the industrial personal computer (4) respectively；
The vision system (10) for obtaining the location information of circuit board (2) to be welded on the assembly line (3), and is obtained
Take the image information for moving to the circuit board (2) of setting position；
The gripper assembly (9), for will move to the circuit board to be welded of the target position according to the clamping signal
(2) fixation is picked up；It is also used to that the soldered circuit board (2) of clamping is placed in the assembly line according to the placement signal
(3) on；
The industrial personal computer is used for according to pad locations in described image information identification circuit board (2), and combines pre-stored institute
The printed information for stating circuit board (2) generates weld pulse information；It is also used to generate clamping pulse signal according to described image information；
It is also used to generate after the completion of welding and places pulse signal；
The weld assembly (8), the circuit board (2) for being clamped according to the weld pulse information to the gripper assembly (9)
It is welded, until welding is completed.
2. Intelligent welding system according to claim 1, it is characterised in that: the motion platform include the first mould group (5),
Second mould group (6) and third mould group (7)；
The opposite sides inner wall in the cabinet (1) is arranged along the width direction of the assembly line (3) for the first mould group (5)
On, the second mould group (6) is arranged on the first mould group (5) along the length direction of the assembly line (3), and described the
One mould group (5) can drive the first mould group (5) to move along the width direction of the assembly line (3), the second mould group (6)
It is equipped with third mould group (7), and the second mould group (6) can drive the third mould group (7) along the width of the assembly line (3)
Spend direction movement, the weld assembly (8) is arranged on the third mould group (7), and the third mould group (7) can drive it is described
Weld assembly (8) elevating movement and horizontally rotate, is welded with the circuit board (2) clamped to the gripper assembly (9).
3. Intelligent welding system according to claim 2, it is characterised in that: the first mould group (5) includes two first
Sliding rail (51) and the first driving assembly (52), the second mould group (6) include second support bar (61) and the second driving assembly
(62), the third mould group (7) includes slide block assembly (71) and third driving assembly (72)；
Two first sliding rails (51) are contour to be set to the cabinet (1) along on the inner wall of width direction two sides, and described second
The both ends of support rod (61) are slidably connected with corresponding first sliding rail (51) respectively, the first driving assembly (52) setting
In one end of first sliding rail (51), and first driving assembly (52) and the second support bar (61) are sequentially connected,
And the second support bar (61) can be driven to slide along the width direction of the assembly line (3), the second support bar (61)
On along the length direction of the assembly line (3) be equipped with the second sliding rail, the slide block assembly (71) is arranged in second sliding rail
On, second driving assembly (62) setting in one end of the second support bar (61), second driving assembly (62) with
Slide block assembly (71) transmission connection, and the slide block assembly (71) can be driven along the length direction of the assembly line (3)
Sliding, the weld assembly (8) are arranged on the slide block assembly (71), and the third driving assembly (72) is arranged in the cunning
The upper end of block assembly (71), and the third driving assembly (72) and the weld assembly (8) are sequentially connected, and can drive described
Weld assembly (8) elevating movement and horizontally rotate.
4. Intelligent welding system according to claim 3, it is characterised in that: the weld assembly (8) include backboard (81),
For tinware (82) and weldering pen (83), the backboard (81) connect with the output end of the third driving assembly (72), described for tin
Device (82) is arranged on the backboard (81), and the weldering pen (83) is arranged on the backboard (81), and is located at described for tinware
(82) lower section, the tin silk on tinware (82) extend at the soldering tip of weldering pen (83), the third driving assembly
(72) backboard (81) can be driven to drive weldering pen (83) elevating movement and horizontally rotate, the weldering pen (83) and temperature control
Device (11) electrical connection processed, the temperature controller are electrically connected with the industrial personal computer (4).
5. Intelligent welding system according to claim 1, it is characterised in that: the gripper assembly (9) includes along described
Assembly line (3) width direction is across the support frame (91) being arranged above the assembly line (3) and is arranged in support frame as described above
(91) clamping driving mechanism (92) and clamping part (93) on, support frame as described above (91) are located at the cabinet (1) along width side
To opposite sides inner wall between, the clamping driving mechanism (92) can drive the clamping part (93) move and clamp the stream
The circuit board (2) of setting position is moved on waterline (4), and is moved to the lower section of the weld assembly (8).
6. Intelligent welding system according to claim 5, it is characterised in that: along the flowing water on support frame as described above (91)
The length direction of line (3) is slided up and down equipped with support beam (94), and the clamping part (93) includes two clamping hands, the clamping
Driving mechanism (92) includes flexible driving assembly (921), picks and places driving assembly (922) and lifting driving assembly (923), the liter
It drops driving assembly (923) and the support beam (94) to be sequentially connected, and the support beam (94) can be driven to move up and down, institute
It states flexible driving assembly (921) to be arranged on the support beam (94), the flexible driving assembly (921) and the pick-and-place are driven
Dynamic component (922) transmission connection, and the pick-and-place driving assembly (922) can be driven along the flexible fortune of the assembly line width direction
Dynamic, the pick-and-place driving assembly (922) connect with two clamping hands respectively, and can drive two clamping hands movements simultaneously
It is close to each other or separate.
7. Intelligent welding system according to claim 3, it is characterised in that: the vision system (10) includes being arranged in institute
It states on slide block assembly (71) and can be with the video camera (101) and the setting cabinet that the slide block assembly (71) are moved together
(1) close to the scanner (102) of the circuit board (2) supplied materials side on, the video camera (101) and scanner (102) are respectively
It is electrically connected with the industrial personal computer (4).
8. Intelligent welding system according to claim 7, it is characterised in that: the vision system (10) further includes along institute
State the photoelectric sensor (103) that the width direction of assembly line (3) is arranged in the cabinet (1), the photoelectric sensor (103)
It is described whether the circuit board (2) for being electrically connected with the industrial personal computer (4), and detecting the gripper assembly (9) clamping moves to
Target position.
9. Intelligent welding system according to claim 1-8, it is characterised in that: further include and the circuit board
(2) positioning fixture to match, the circuit board (2) is fixed on correspondingly on the positioning fixture, and the clamping group
Part (9) clamps the positioning fixture and the circuit board (2) is moved to the target position and welds.
10. a kind of welding method of such as described in any item Intelligent welding systems of claim 1-9, which is characterized in that including such as
Lower step:
Step 1: obtaining the location information of circuit board (2) to be welded on the assembly line (3), and moved in circuit board (2)
Its image information is obtained when setting position；
Step 2: clamping pulse signal being generated according to described image information, and according to described image information identification circuit board (2)
On pad information, and in conjunction with the printed information of the pre-stored circuit board (2) generate weld pulse information；
Step 3: fixation is picked up according to the circuit board (2) to be welded that the clamping signal will move to the target position, and
The circuit board (2) that the gripper assembly (9) clamps is welded according to the weld pulse information；
Step 4: being generated after the completion of the circuit board (2) welding and place pulse signal, according to the placement signal by the weldering of clamping
The circuit board (2) for connecing completion is placed on the assembly line (3), and return step 1, is so recycled, until completing all described
The welding of circuit board (2).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811386961.5A CN109332840B (en) | 2018-11-20 | 2018-11-20 | Intelligent welding system and method |
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| CN201811386961.5A CN109332840B (en) | 2018-11-20 | 2018-11-20 | Intelligent welding system and method |
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| CN109865913A (en) * | 2019-03-22 | 2019-06-11 | 北京无线电测量研究所 | The paths planning method of solder horn is cleaned in a kind of automatic welding |
| CN110202234A (en) * | 2019-06-12 | 2019-09-06 | 长春师范大学 | A kind of Piezoelectric Driving automatic spray printing system |
| CN110996547A (en) * | 2019-11-15 | 2020-04-10 | 河北科技大学 | Driving parameter calculation method and device applied to tin paste smearing equipment |
| CN111010818A (en) * | 2019-11-15 | 2020-04-14 | 河北科技大学 | Smearing path planning method and device applied to tin paste smearing equipment |
| CN112867283A (en) * | 2020-12-31 | 2021-05-28 | 华芯智造微电子(重庆)有限公司 | Control system for transistor die bonder |
| CN113523472A (en) * | 2021-07-20 | 2021-10-22 | 深圳市中深光电股份有限公司 | Novel automatic welding method |
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